KR101824982B1 - Vehicle and control method for the same - Google Patents

Vehicle and control method for the same Download PDF

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Publication number
KR101824982B1
KR101824982B1 KR1020150140817A KR20150140817A KR101824982B1 KR 101824982 B1 KR101824982 B1 KR 101824982B1 KR 1020150140817 A KR1020150140817 A KR 1020150140817A KR 20150140817 A KR20150140817 A KR 20150140817A KR 101824982 B1 KR101824982 B1 KR 101824982B1
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KR
South Korea
Prior art keywords
vehicle
moving object
sub
unit
dangerous area
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KR1020150140817A
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Korean (ko)
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KR20170041417A (en
Inventor
박상하
Original Assignee
엘지전자 주식회사
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Priority to KR1020150140817A priority Critical patent/KR101824982B1/en
Publication of KR20170041417A publication Critical patent/KR20170041417A/en
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    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
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    • BPERFORMING OPERATIONS; TRANSPORTING
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    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/008Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for anti-collision purposes
    • BPERFORMING OPERATIONS; TRANSPORTING
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    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/02Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle
    • B60Q1/08Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically
    • B60Q1/085Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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    • B60Q1/26Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/52Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
    • B60Q1/525Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies indicating risk of collision between vehicles or with pedestrians
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    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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    • B60Q2300/40Indexing codes relating to other road users or special conditions
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
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    • B60R2300/80Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
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Abstract

A vehicle according to an embodiment of the present invention includes a display unit for displaying information, a sensing unit for sensing a moving object adjacent to the vehicle, Wherein the moving characteristic of the moving object includes a speed and a moving direction of the moving object based on sensing information about the moving object, and based on the moving characteristic of the moving object, And setting a dangerous area for the object, wherein the dangerous area has a size and a shape corresponding to the movement characteristics of the moving object, and displays an image indicating the dangerous area on the display unit.

Description

VEHICLE AND CONTROL METHOD FOR THE SAME

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle and a control method thereof, and more particularly, to a vehicle and a control method thereof for guiding a collision risk between a vehicle and a moving object adjacent thereto.

A vehicle is a device that drives a wheel to transport a person or cargo from one place to another. For example, two-wheeled vehicles such as a motorcycle, a four-wheeled vehicle such as a sedan, as well as a train belong to the vehicle.

In order to increase the safety and convenience of users who use the vehicle, development of technologies for connecting various sensors and electronic devices to the vehicle has been accelerated. In particular, a system that provides various functions (eg, smart cruise control, lane keeping assistance) developed for the user's driving convenience is installed in the vehicle. Thereby, so-called autonomous driving in which the vehicle runs on the road in consideration of the external environment itself becomes possible without the driver's operation.

On the other hand, various types of objects can be placed in the vicinity of the running vehicle. For example, other vehicles, motorcycles, bicycles, pedestrians, and falling objects may be distributed throughout the roads. Among these objects, a moving object (hereinafter referred to as a moving object) has a high risk of collision with the vehicle.

However, the conventional technology is only for detecting a moving object around the vehicle, and then simply notifying the driver of the moving object. That is, although the moving object has a different risk of collision with the vehicle depending on its inherent speed, direction of movement, type, etc., the conventional object detection technique may notify the driver of the risk of collision between each moving object and the vehicle And it does not help the driver to actively cope with the accident.

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above-described problems, and it is an object of the present invention to provide a driver with a risk area corresponding to a motion characteristic of a moving object adjacent to the vehicle, And a method of controlling the vehicle.

Another object of the present invention is to make it possible for a driver of a vehicle to easily grasp the type of a moving object by varying a dangerous area according to the type of the moving object as well as the motion characteristics of the moving object.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a vehicle comprising: a display unit for displaying information; a sensing unit for sensing a moving object adjacent to the vehicle; Wherein the motion characteristics of the moving object include a speed and a moving direction of the moving object based on the sensing information and the moving characteristics of the moving object are determined on the basis of the moving characteristics of the moving object, There is provided a vehicle including a control unit configured to set a dangerous area, the dangerous area having a size and a shape corresponding to a movement characteristic of the moving object, and displaying an image indicating the dangerous area on the display unit.

In addition, the sensing unit may include at least one of a camera, a radar, a lidar, and an ultrasonic sensor.

In addition, the controller may display an image indicating the dangerous area on the display unit in an augmented reality mode or a top view mode.

In addition, in the top view mode, the control unit may map an image indicating the dangerous area on a map and display the image on the display unit.

The control unit may adjust the scale of the map based on the congestion around the vehicle.

The controller may predict a future moving direction of the moving object based on at least one of a position, a speed, and a moving direction of the plurality of points of the moving object, and based on the predicted moving direction, You can change the danger zone for moving objects.

The control unit may determine the type of the moving object based on sensing information about the moving object.

In addition, when the type of the moving object corresponds to the type previously designated by the user, the control unit may set a dangerous area for the moving object based on the type of the moving object.

In addition, the control unit may divide the dangerous area into a predetermined number of sub-areas.

In addition, each of the sub-areas may indicate a movable range of the moving object during different time intervals.

In addition, the control unit may display the images indicating the sub-areas on the display unit to be distinguished from each other.

The control unit may determine a predicted path to be passed by the vehicle within a predetermined time from the total path from the user to the destination input from the user based on the motion characteristics including the speed and the direction of movement of the vehicle.

In addition, the control unit may display, on the display unit, an image indicating a predicted path of the vehicle, together with an image indicating the dangerous area.

In addition, the control unit may determine whether there is a sub-region overlapping the predicted path of the vehicle among the sub-regions.

The control unit may output a horn sound of the vehicle when the external illuminance of the vehicle is equal to or greater than a preset illuminance, If it is less than the preset illuminance, light can be irradiated toward the moving object.

In addition, the control unit may execute at least one of predetermined functions when there is a sub-area overlapping the expected route of the vehicle among the sub-areas, and the predetermined functions include: (i) An alarm output, (ii) control of the vehicle decelerating device, (iii) control of the steering device of the vehicle, and (iv) control of the lighting device of the vehicle.

In addition, the control unit may perform a function corresponding to a sub-region overlapping the predicted path of the vehicle among the predetermined functions.

The control unit may adjust a control parameter for a function corresponding to a sub-area overlapping with a predicted path of the vehicle, based on a distance between the vehicle and a sub-area overlapping the predicted path of the vehicle among the sub-areas .

In addition, the sub-areas include a first sub-area and a second sub-area, and the control unit controls the first function of the predetermined functions in response to the anticipated path of the vehicle overlapping the first sub- And in response to the anticipated path of the vehicle overlapping the second sub-area, perform a second function different from the first one of the predetermined functions.

The information processing apparatus may further include a communication unit that performs wireless communication with the moving object, and the control unit may set a dangerous area for the moving object based on the information about the moving object received by the communication unit.

The details of other embodiments are included in the detailed description and drawings.

Effects of the vehicle and the control method according to the present invention will be described as follows.

According to at least one of the embodiments of the present invention, the risk area corresponding to the motion characteristic of the moving object adjacent to the vehicle is guided to the driver, so that the driver of the vehicle can easily grasp the risk of collision with the moving object, You can help.

According to at least one of the embodiments of the present invention, the dangerous area is varied according to the type of the moving object along with the moving characteristic of the moving object, so that the driver of the vehicle easily grasps the type of the moving object , It is possible to quickly operate the vehicle according to the detected type.

According to at least one of the embodiments of the present invention, when the moving object is obstructed by an obstacle or the like and can not be directly detected by the vehicle, information related to the movement of the moving object is received through V2X (Vehicle to everything communication) , The risk of collision with the moving object can be confirmed in advance even if the vehicle can not be directly detected by the driver or by the vehicle by setting the dangerous area of the moving object based on the received information.

According to at least one of the embodiments of the present invention, when a collision with a moving object is expected, a route that has been searched for in a past for a certain destination is canceled, and a new route is automatically searched for, To the driver promptly.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 shows a block diagram of a vehicle according to an embodiment of the present invention.
2 is a view showing an appearance of a vehicle according to an embodiment of the present invention. For convenience of explanation, it is assumed that the vehicle is a four-wheeled vehicle.
Figs. 3A to 3C are views referred to for describing the external camera described above with reference to Fig. 1. Fig.
FIG. 4 shows an example of the vehicle described above with reference to FIG. For convenience of explanation, it is assumed that the vehicle is a four-wheeled vehicle.
FIG. 5 shows an example of an internal block diagram of the control unit shown in FIG.
6A and 6B are views referred to in the description of the operation of the control unit shown in FIG.
Figure 7 shows a flow chart of an exemplary process performed by a vehicle in accordance with an embodiment of the present invention.
8A and 8B show an example of a dangerous area set for each type of moving object according to an embodiment of the present invention.
9 shows another example of a dangerous area set for each type of moving object according to an embodiment of the present invention.
FIG. 10 shows another example of a dangerous area set for each type of moving object according to an embodiment of the present invention.
11 shows an exemplary method of changing a dangerous area for a moving object based on the speed of the moving object, according to an embodiment of the present invention.
12A and 12B show an exemplary method of changing a dangerous area, based on the predicted movement direction of a moving object, according to an embodiment of the present invention.
FIG. 13 shows an example of a user interface screen provided by a vehicle to a user through a display unit according to an embodiment of the present invention.
14A to 14C show how a vehicle displays an image corresponding to a dangerous area according to an embodiment of the present invention.
15A and 15B illustrate a method of adjusting the scale of a map based on the congestion around the vehicle in a top view mode according to an embodiment of the present invention.
FIG. 16 illustrates a data table in which a relationship between sub-areas and functions included in a dangerous area according to an exemplary embodiment of the present invention is defined.
17 shows an example of a map indicating a dangerous area for a moving object according to an embodiment of the present invention.
FIG. 18 shows an example of a map indicating a dangerous area for a moving object related to FIG. 17, according to an embodiment of the present invention.
Fig. 19 shows an example of a map indicating a dangerous area for a moving object related to Fig. 18, according to an embodiment of the present invention.
Fig. 20 shows an example of a map displayed when the vehicle executes the emergency braking function with reference to Fig. 19. Fig.
FIG. 21 shows an example of a map indicating a dangerous area for a moving object related to FIG. 19, according to an embodiment of the present invention.
22 shows an example of a map displayed when the vehicle performs the emergency braking function and the emergency steering function with reference to Fig.
23 shows an example in which a vehicle according to an embodiment of the present invention determines control parameters for a specific function based on a dangerous area for a moving object.
Fig. 24 shows another example in which a vehicle according to an embodiment of the present invention determines control parameters for a specific function, based on a dangerous area for a moving object related to Fig.
25A and 25B show an example in which a vehicle according to an embodiment of the present invention provides a risk of collision with a moving object to an augmented reality.
26 shows a conceptual diagram of V2X communication that can be performed by a vehicle according to an embodiment of the present invention.
27A and 27B show an example in which a vehicle according to an embodiment of the present invention provides an alarm signal to a moving object at risk of potential collision with a vehicle based on external illuminance.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. It should also be understood that the term "controlling" one component is meant to encompass not only one component directly controlling the other component, but also controlling through mediation of a third component something to do. It is also to be understood that any element "providing" information or signals to another element is meant to encompass not only providing the element directly to the other element, but also providing it through intermediation of a third element .

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

1 shows a block diagram of a vehicle 100 according to an embodiment of the present invention.

The vehicle 100 includes a communication unit 110, an input unit 120, a memory 130, an output unit 140, a vehicle driving unit 150, a sensing unit 160, a control unit 170, an interface unit 180, (Not shown).

The communication unit 110 may include one or more modules that enable wireless communication between the vehicle 100 and an external device (e.g., portable terminal, external server, other vehicle). In addition, the communication unit 110 may include one or more modules that connect the vehicle 100 to one or more networks.

The communication unit 110 may include a broadcast receiving module 111, a wireless Internet module 112, a local area communication module 113, a location information module 114, and an optical communication module 115.

The broadcast receiving module 111 receives broadcast signals or broadcast-related information from an external broadcast management server through a broadcast channel. Here, the broadcast includes a radio broadcast or a TV broadcast.

The wireless Internet module 112 refers to a module for wireless Internet access, and may be built in or externally mounted on the vehicle 100. The wireless Internet module 112 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA, WiBro Interoperability for Microwave Access, High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE) and Long Term Evolution-Advanced (LTE-A) 112 transmit and receive data according to at least one wireless Internet technology, including Internet technologies not listed above. For example, the wireless Internet module 112 may exchange data wirelessly with an external server. The wireless Internet module 112 can receive weather information and road traffic situation information (for example, TPEG (Transport Protocol Expert Group)) from an external server.

The short-range communication module 113 is for short-range communication, and includes Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB) (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology.

The short-range communication module 113 may form short-range wireless communication networks to perform short-range communication between the vehicle 100 and at least one external device. For example, the short-range communication module 113 can wirelessly exchange data with the occupant's portable terminal. The short-range communication module 113 can receive weather information and road traffic situation information (for example, TPEG (Transport Protocol Expert Group)) from a portable terminal or an external server. For example, when the user aboard the vehicle 100, the user's portable terminal and the vehicle 100 can perform pairing with each other automatically or by execution of the user's application.

The position information module 114 is a module for acquiring the position of the vehicle 100, and a representative example thereof is a Global Positioning System (GPS) module. For example, when the vehicle utilizes a GPS module, it can acquire the position of the vehicle using a signal sent from the GPS satellite.

The optical communication module 115 may include a light emitting portion and a light receiving portion.

The light receiving section can convert the light signal into an electric signal and receive the information. The light receiving unit may include a photodiode (PD) for receiving light. Photodiodes can convert light into electrical signals. For example, the light receiving section can receive information of the front vehicle through light emitted from the light source included in the front vehicle.

The light emitting unit may include at least one light emitting element for converting an electric signal into an optical signal. Here, the light emitting element is preferably an LED (Light Emitting Diode). The optical transmitter converts the electrical signal into an optical signal and transmits it to the outside. For example, the optical transmitter can emit the optical signal to the outside through the blinking of the light emitting element corresponding to the predetermined frequency. According to an embodiment, the light emitting portion may include a plurality of light emitting element arrays. According to the embodiment, the light emitting portion can be integrated with the lamp provided in the vehicle 100. [ For example, the light emitting portion may be at least one of a headlight, a tail light, a brake light, a turn signal lamp, and a car light. For example, the optical communication module 115 can exchange data with other vehicles through optical communication.

The input unit 120 may include a driving operation unit 121, a microphone 123, and a user input unit 124.

The driving operation means 121 receives a user input for driving the vehicle 100. The driving operation means 121 may include a steering input means 121a, a shift input means 121b, an acceleration input means 121c and a brake input means 121d.

The steering input means 121a receives a forward direction input of the vehicle 100 from the user. The steering input means 121a may include a steering wheel. According to the embodiment, the steering input means 121a may be formed of a touch screen, a touch pad, or a button.

The shift input means 121b receives inputs of parking (P), forward (D), neutral (N), and reverse (R) of the vehicle 100 from the user. The shift input means 121b is preferably formed in a lever shape. According to an embodiment, the shift input means 121b may be formed of a touch screen, a touch pad, or a button.

The acceleration input means 121c receives an input for acceleration of the vehicle 100 from the user. The brake input means 121d receives an input for decelerating the vehicle 100 from the user. The acceleration input means 121c and the brake input means 121d are preferably formed in the form of a pedal. According to the embodiment, the acceleration input means 121c or the brake input means 121d may be formed of a touch screen, a touch pad, or a button.

The camera 122 is disposed at one side of the interior of the vehicle 100 to generate an indoor image of the vehicle 100. [ For example, the camera 122 may be disposed at various positions of the vehicle 100, such as a dashboard surface, a roof surface, a rear view mirror, etc., to photograph the passenger of the vehicle 100. In this case, the camera 122 may generate an indoor image of an area including the driver's seat of the vehicle 100. [ In addition, the camera 122 may generate an indoor image of an area including an operator's seat and an assistant seat of the vehicle 100. [ The indoor image generated by the camera 122 may be a two-dimensional image and / or a three-dimensional image. To generate a three-dimensional image, the camera 122 may include at least one of a stereo camera, a depth camera, and a three-dimensional laser scanner. The camera 122 can provide the indoor image generated by the camera 122 to the control unit 170 functionally combined with the indoor image.

The controller 170 analyzes the indoor image provided from the camera 122 and can detect various objects. For example, the control unit 170 can detect the sight line and / or the gesture of the driver from the portion corresponding to the driver's seat area in the indoor image. As another example, the control unit 170 can detect the sight line and / or the gesture of the passenger from the portion corresponding to the indoor area excluding the driver's seat area in the indoor image. Of course, the sight line and / or the gesture of the driver and the passenger may be detected at the same time.

The microphone 123 can process an external acoustic signal into electrical data. The processed data can be utilized variously according to functions performed in the vehicle 100. The microphone 123 can convert the voice command of the user into electrical data. The converted electrical data may be transmitted to the control unit 170.

The camera 122 or the microphone 123 may be a component included in the sensing unit 160 and not a component included in the input unit 120. [

The user input unit 124 is for receiving information from a user. When information is input through the user input unit 124, the controller 170 may control the operation of the vehicle 100 to correspond to the input information. The user input unit 124 may include a touch input means or a mechanical input means. According to an embodiment, the user input 124 may be located in one area of the steering wheel. In this case, the driver can operate the user input unit 124 with his / her finger while holding the steering wheel.

The input unit 120 may include a plurality of buttons or a touch sensor. It is also possible to perform various input operations through a plurality of buttons or touch sensors.

The sensing unit 160 senses a signal related to the running of the vehicle 100 or the like. To this end, the sensing unit 160 may include a sensor, a steering sensor, a speed sensor, a tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, A position sensor, a position module, a vehicle forward / reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, a vehicle internal humidity sensor, 163, an ultrasonic sensor 164, and the like.

Accordingly, the sensing unit 160 can sense the vehicle collision information, the vehicle direction information, the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, the vehicle acceleration information, the vehicle tilt information, Fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, and the like. The control unit 170 controls the acceleration and deceleration of the vehicle 100 based on the external environment information obtained by at least one of the camera, the ultrasonic sensor, the infrared sensor, the radar, A control signal for changing direction, etc. can be generated. Here, the external environment information may be information related to various objects located within a predetermined distance from the vehicle 100 in motion. For example, the external environment information may include information on the number of obstacles located within a distance of 100 m from the vehicle 100, a distance to the obstacle, a size of the obstacle, a type of the obstacle, and the like.

The sensing unit 160 may further include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, A sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 160 may include a biometric information sensing unit. The biometric information sensing unit senses and acquires the biometric information of the passenger. The biometric information may include fingerprint information, iris-scan information, retina-scan information, hand geo-metry information, facial recognition information, Voice recognition information. The biometric information sensing unit may include a sensor that senses the passenger's biometric information. Here, the camera 122 and the microphone 123 can operate as sensors. The biometric information sensing unit can acquire hand shape information and facial recognition information through the camera 122. [

The sensing unit 160 may include at least one camera 161 for photographing the outside of the vehicle 2. [ The camera 161 may be referred to as an external camera. For example, the sensing unit 160 may include a plurality of cameras 161 disposed at different positions of the vehicle exterior. The camera 161 may include an image sensor and an image processing module. The camera 161 can process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). The image processing module may process the still image or the moving image obtained through the image sensor, extract necessary information, and transmit the extracted information to the control unit 170.

The camera 161 may include an image sensor (e.g., CMOS or CCD) and an image processing module. In addition, the camera 161 can process still images or moving images obtained by the image sensor. The image processing module can process the still image or moving image obtained through the image sensor. In addition, the camera 161 may acquire an image including at least one of a traffic light, a traffic sign, a pedestrian, another vehicle, and a road surface.

The output unit 140 may include a display unit 141, an acoustic output unit 142, and a haptic output unit 143 for outputting information processed by the control unit 170.

The display unit 141 may display information processed by the controller 170. [ For example, the display unit 141 can display vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for a driving guide to the vehicle driver. Further, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle driving information related to the driving of the vehicle.

The display unit 141 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 141 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. Such a touch screen may function as a user input 124 that provides an input interface between the vehicle 100 and a user and may provide an output interface between the vehicle 100 and a user. In this case, the display unit 141 may include a touch sensor that senses a touch with respect to the display unit 141 so as to receive a control command by a touch method. When a touch is made to the display unit 141, the touch sensor senses the touch, and the control unit 170 generates a control command corresponding to the touch based on the touch. The content input by the touch method may be a letter or a number, an instruction in various modes, a menu item which can be designated, and the like.

Meanwhile, the display unit 141 may include a cluster so that the driver can check the vehicle state information or the vehicle driving information while driving. Clusters can be located on the dashboard. In this case, the driver can confirm the information displayed in the cluster while keeping the gaze ahead of the vehicle.

Meanwhile, according to the embodiment, the display unit 141 may be implemented as a Head Up Display (HUD). When the display unit 141 is implemented as a HUD, information can be output through a transparent display provided in the windshield. Alternatively, the display unit 141 may include a projection module to output information through an image projected on the windshield.

The sound output unit 142 converts an electric signal from the control unit 170 into an audio signal and outputs the audio signal. For this purpose, the sound output unit 142 may include a speaker or the like. It is also possible that the sound output unit 142 outputs a sound corresponding to the operation of the user input unit 124. [

The haptic output unit 143 generates a tactile output. For example, the haptic output section 143 may vibrate the steering wheel, the seat belt, and the seat so that the user can operate to recognize the output.

The vehicle driving unit 150 can control the operation of various devices of the vehicle. The vehicle driving unit 150 includes a power source driving unit 151, a steering driving unit 152, a brake driving unit 153, a lamp driving unit 154, an air conditioning driving unit 155, a window driving unit 156, an airbag driving unit 157, A driving unit 158, and a wiper driving unit 159. [0035]

The power source drive unit 151 may perform electronic control of the power source in the vehicle 100. [ The power source drive unit 151 may include an accelerator for increasing the speed of the vehicle 100 and a decelerator for decreasing the speed of the vehicle 100. [

For example, when the fossil fuel-based engine (not shown) is a power source, the power source drive unit 151 can perform electronic control of the engine. Thus, the output torque of the engine and the like can be controlled. When the power source drive unit 151 is an engine, the speed of the vehicle can be limited by limiting the engine output torque under the control of the control unit 170. [

In another example, when the electric motor (not shown) is a power source, the power source drive unit 151 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The steering driver 152 may include a steering apparatus. Accordingly, the steering driver 152 can perform electronic control of the steering apparatus in the vehicle 100. [ For example, the steering driver 152 may be provided with a steering torque sensor, a steering angle sensor, and a steering motor, and the steering torque applied by the driver to the steering wheel may be sensed by the steering torque sensor. The steering driver 152 can control the steering force and the steering angle by changing the magnitude and direction of the current applied to the steering motor based on the speed of the vehicle 100 and the steering torque. In addition, the steering driver 152 can determine whether the running direction of the vehicle 100 is properly adjusted based on the steering angle information obtained by the steering angle sensor. Thereby, the running direction of the vehicle can be changed. In addition, when the vehicle 100 is running at a low speed, the steering driver 152 lowers the weight of the steering wheel by increasing the steering force of the steering motor and reduces the steering force of the steering motor when the vehicle 100 is traveling at high speed, The weight can be increased. When the autonomous vehicle running function of the vehicle 100 is executed, the steering driver 152 may be configured to determine whether or not the steering wheel 160 is in a state where the driver operates the steering wheel (e.g., a situation in which the steering torque is not detected) It is also possible to control the steering motor to generate appropriate steering force based on the sensing signal or the control signal provided by the control unit 170. [

The brake driver 153 may perform electronic control of a brake apparatus (not shown) in the vehicle 100. [ For example, it is possible to reduce the speed of the vehicle 100 by controlling the operation of the brakes disposed on the wheels. As another example, it is possible to adjust the traveling direction of the vehicle 100 to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The lamp driving unit 154 may control the turn-on / turn-off of at least one or more lamps disposed inside or outside the vehicle. The lamp driver 154 may include a lighting device. Further, the lamp driving unit 154 can control intensity, direction, etc. of light output from each of the lamps included in the lighting apparatus. For example, it is possible to perform control for a direction indicating lamp, a head lamp, a brake lamp, and the like.

The air conditioning driving unit 155 may perform electronic control on an air conditioner (not shown) in the vehicle 100. For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cool air to be supplied to the inside of the vehicle.

The window driving unit 156 may perform electronic control of a window apparatus in the vehicle 100. [ For example, it is possible to control the opening or closing of the side of the vehicle with respect to the left and right windows.

The airbag drive 157 may perform electronic control of the airbag apparatus in the vehicle 100. [ For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 158 may perform electronic control of a sunroof apparatus (not shown) in the vehicle 100. [ For example, the opening or closing of the sunroof can be controlled.

The wiper driving unit 159 may control the wipers 14a and 14b provided on the vehicle 100. [ For example, the wiper drive 159 may be configured to provide an electronic control for the number of drives, drive speeds, etc. of the wipers 14a, 14b in response to user input upon receipt of a user input instructing to drive the wiper through the user input 124 Can be performed. The wiper drive unit 159 may determine the amount or intensity of the rainwater based on the sensing signal of the rain sensor included in the sensing unit 160 so that the wipers 14a and 14b may be used without user input, Can be automatically driven.

Meanwhile, the vehicle driving unit 150 may further include a suspension driving unit (not shown). The suspension driving unit may perform electronic control of a suspension apparatus (not shown) in the vehicle 100. For example, when there is a curvature on the road surface, it is possible to control the suspension device so as to reduce the vibration of the vehicle 100. [

The memory 130 is electrically connected to the controller 170. The memory 170 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 190 may be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 130 may store various data for operation of the vehicle 100, such as a program for processing or controlling the controller 170. [

The interface unit 180 may serve as a path to various kinds of external devices connected to the vehicle 100. For example, the interface unit 180 may include a port connectable to the portable terminal, and may be connected to the portable terminal through the port. In this case, the interface unit 180 can exchange data with the portable terminal.

The interface unit 180 may receive the turn signal information. Here, the turn signal information may be a turn-on signal of the turn signal lamp for the left turn or the turn right turn inputted by the user. When the left or right turn signal turn-on input is received through the user input portion (724 in Fig. 6) of the vehicle, the interface portion 180 can receive left turn signal information or right turn signal information.

The interface unit 180 may receive vehicle speed information, rotation angle information of the steering wheel, or gear shift information. The interface unit 180 may receive the sensed vehicle speed information, the steering wheel rotation angle information, or the gear shift information through the sensing unit 160 of the vehicle. Alternatively, the interface unit 180 may receive the vehicle speed information, the steering wheel rotation angle information, or the gear shift information from the control unit 170 of the vehicle. Here, the gear shift information may be information on which state the shift lever of the vehicle is in. For example, the gear shift information may be information on which state the shift lever is in the parking (P), reverse (R), neutral (N), running (D) .

The interface unit 180 may receive user input received via the user input 124 of the vehicle 100. [ The interface unit 180 may receive the user input from the input unit 120 of the vehicle 100 or may receive the user input through the control unit 170. [

The interface unit 180 can receive information obtained from an external device. For example, when the traffic light change information is received from the external server through the communication unit 110 of the vehicle 100, the interface unit 180 can receive the traffic light change information from the control unit 170. [

The control unit 170 can control the overall operation of each unit in the vehicle 100. [ The control unit 170 may be referred to as an ECU (Electronic Control Unit).

The control unit 170 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) ), Controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The power supply unit 190 can supply power necessary for the operation of each component under the control of the controller 170. [ In particular, the power supply unit 170 can receive power from a battery (not shown) or the like inside the vehicle.

The AVN (Audio Video Navigation) device 400 can exchange data with the control unit 170. [ The control unit 170 may receive navigation information from the AVN apparatus or a separate navigation apparatus (not shown). Here, the navigation information may include set destination information, route information according to the destination, map information about the vehicle driving, or vehicle location information.

On the other hand, some of the components shown in FIG. 1 may not be essential to the implementation of the vehicle 100. Thus, the vehicle 100 described herein may have more or fewer components than those listed above.

2 is a view showing the appearance of the vehicle 100 according to an embodiment of the present invention. For convenience of explanation, it is assumed that the vehicle 100 is a four-wheeled vehicle.

2, the vehicle 100 includes a tire 11a-11d rotated by a power source, a steering wheel 12 for adjusting the traveling direction of the vehicle 100, head lamps 13a and 13b, a wiper 14a, 14b.

The control unit 170 of the vehicle 100 according to the embodiment of the present invention generates a peripheral image of the vehicle using the camera 161, detects information in the generated peripheral image, To the driving unit 150. The driving unit 150 may be configured to output the control signal to the driving unit 150. [ For example, the control unit 170 can control the steering apparatus or the like based on the control signal.

On the other hand, the height H of the vehicle 100 is the length from the ground plane to the highest position of the vehicle body, and can be changed within a predetermined range according to the weight or position of the occupant or the load of the vehicle 100. Further, the vehicle 100 may be separated by a minimum ground clearance G between the lowest point of the vehicle body and the road surface. Thus, the vehicle body can be prevented from being damaged by an object having a height lower than the minimum ground clearance G.

It is also assumed that the distance between the front left and right tires 11a and 11b of the vehicle 100 and the distance between the rear left and right tires 11c and 11d are the same. It is assumed that the distance between the inside of the front wheel left tire 11a and the inside of the right tire 11b and the distance between the inside of the rear left tire 11c and the inside of the right tire 11d are the same value T do.

The overall width O of the vehicle 100 can be defined as the maximum distance between the left end of the vehicle 100 and the right end of the vehicle 100 excluding the side mirror (e.g., electric folding side mirror) as shown in the figure.

FIG. 3A illustrates a case where the camera 161 described above with reference to FIG. 1 is a stereo camera.

3A, the camera 161 may include a first camera 310 having a first lens 311, and a second camera 320 having a second lens 321. Also, the first lens 311 and the second lens 312 are spaced apart from each other by a predetermined distance, so that two different images of the same subject can be obtained at a specific point in time.

The camera 161 further includes a first light shield 312 and a second light shield 322 for shielding light incident on the first lens 311 and the second lens 321, .

The camera 161 in the drawing may be a structure detachably attachable to the ceiling or windshield of the vehicle 100.

This camera 161 can acquire a stereo image with respect to the front of the vehicle from the first and second cameras 310 and 320. Also, at least one object (e.g., a pedestrian, a traffic light, a road, a lane, another vehicle) appearing in at least one stereo image based on the disparity information, based on the stereo image, Lt; / RTI > After the object is detected, the movement of the object can be continuously tracked.

Referring to FIGS. 3B and 3C, four cameras 161a, 161b, 161c, and 161d may be mounted at different positions on the outer surface of the vehicle 100. FIG. Each of the four cameras 161a, 161b, 161c, and 161d may be the same as the camera 161 described above.

Referring to FIG. 3B, the plurality of cameras 161a, 161b, 161c, and 161d may be disposed at the front, left, right, and rear of the vehicle 100, respectively. Each of the plurality of cameras 161a, 161b, 161c, and 161d may be included in the camera 161 shown in FIG.

The front camera 161a may be disposed near the windshield, near the ambulance, or near the radiator grill.

The left camera 161b may be disposed in a case surrounding the left side mirror. Alternatively, the left camera 161b may be disposed outside the case surrounding the left side mirror. Alternatively, the left camera 161b may be disposed in one area outside the left front door, the left rear door, or the left fender.

The right camera 161c may be disposed in a case surrounding the right side mirror. Or the right camera 161c may be disposed outside the case surrounding the right side mirror. Alternatively, the right camera 161c may be disposed in one area outside the right front door, the right rear door, or the right fender.

On the other hand, the rear camera 161d may be disposed in the vicinity of a rear license plate or a trunk switch.

The respective images photographed by the plurality of cameras 161a, 161b, 161c, and 161d are transmitted to the control unit 170, and the control unit 170 may synthesize the respective images to generate a peripheral image of the vehicle.

3B, four cameras are mounted on the outer surface of the vehicle 100. However, the present invention is not limited to the number of cameras, and the number of cameras may be different from the position shown in FIG. 3B Lt; / RTI >

3C, the composite image 400 includes a first image area 401 corresponding to an external image photographed by the front camera 161a, a second image area 401 corresponding to an external image photographed by the left camera 161b, A third image area 403 corresponding to an external image photographed by the right camera 161c and a fourth image area 404 corresponding to an external image photographed by the rear camera 161d . The composite image 400 may be named an around view monitoring image.

At the time of generating the composite image 400, the boundary lines 411, 412, 413, and 414 are generated between any two external images included in the composite image 400. These boundary portions can be naturally displayed by image blending processing.

On the other hand, boundary lines 411, 412, 413, and 414 may be displayed at the boundaries between the plurality of images. In addition, a predetermined image may be included in the center of the composite image 400 to indicate the vehicle 100.

Further, the composite image 400 may be displayed on a display device mounted in the interior of the vehicle 100. [

FIG. 4 shows an example of the vehicle 100 described above with reference to FIG. For convenience of explanation, it is assumed that the vehicle 100 is a four-wheeled vehicle.

Referring to FIG. 4, the vehicle 100 may include at least one or more radar devices 162, a plurality of radar devices 163, and an ultrasonic sensor device 164.

The radar 162 may be mounted on one side of the vehicle 100 to emit electromagnetic waves toward the periphery of the vehicle 100 and receive electromagnetic waves reflected from various objects existing around the vehicle 100. [ For example, the radar 162 measures the time of an electromagnetic wave reflected by an object and acquires information related to the distance, direction, altitude, and the like of the object.

The laser 163 is mounted on one side of the vehicle 100 and can emit laser toward the periphery of the vehicle 100. [ The laser emitted by the laser 163 may be scattered or reflected back to the vehicle 100 and the laser 163 may be reflected on the basis of the change in the time, intensity, frequency, , Information on the physical characteristics such as the distance, speed, and shape of the target located in the periphery of the vehicle 100 can be obtained.

The ultrasonic sensor 164 is mounted on one side of the vehicle 100 to generate ultrasonic waves toward the periphery of the vehicle 100. [ Ultrasonic waves generated by the ultrasonic sensor 164 have a high frequency (about 20 KHz or more) and a short wavelength. Such an ultrasonic sensor 164 can be used mainly to recognize an obstacle close to the vehicle 100 and the like.

The radar 162, the RDA 163, and the ultrasonic sensor 164 shown in FIG. 4 may be sensors included in the sensing unit 160 shown in FIG. It is also apparent to those skilled in the art that the radar 162, the lidar 163, and the ultrasonic sensor 164 may be mounted in different numbers in different positions from those shown in Fig. 4, depending on the embodiment.

FIG. 5 shows an example of an internal block diagram of the controller 170 shown in FIG.

5, the control unit 170 may include an image preprocessing unit 510, a disparity calculating unit 520, an object detecting unit 534, an object tracking unit 540, and an application unit 550 .

The image preprocessor 510 receives an image provided from the cameras 161 and 122 shown in FIG. 1 and can perform preprocessing.

In particular, the image preprocessing unit 510 may perform noise reduction, rectification, calibration, color enhancement, color space conversion (CSC) Interpolation, camera gain control, and the like. Thus, a clearer image can be obtained than the stereo image photographed by the cameras 161 and 122.

The disparity calculator 520 receives the image signal processed by the image preprocessing unit 510, performs stereo matching on the received images, and performs disparity calculation based on stereo matching, A disparty map can be obtained. That is, it is possible to obtain the disparity information about the stereo image with respect to the front of the vehicle.

At this time, the stereo matching may be performed on a pixel-by-pixel basis of stereo images or on a predetermined block basis. On the other hand, the disparity map may mean a map in which binaural parallax information of stereo images, i.e., left and right images, is numerically expressed.

The segmentation unit 532 may perform segmenting and clustering on at least one of the images based on the dispetity information from the disparity calculating unit 520. [

Specifically, the segmentation unit 532 can separate the background and the foreground for at least one of the stereo images based on the disparity information.

For example, an area having dispaly information within a disparity map of a predetermined value or less can be calculated as a background, and the corresponding part can be excluded. Thereby, the foreground can be relatively separated.

As another example, an area in which the dispetity information is equal to or greater than a predetermined value in the disparity map can be calculated with the foreground, and the corresponding part can be extracted. Thereby, the foreground can be separated.

Thus, by separating the foreground and the background based on the disparity information information extracted based on the stereo image, it becomes possible to shorten the signal processing speed, signal processing amount, and the like at the time of object detection thereafter.

Next, the object detector 534 can detect the object based on the image segment from the segmentation unit 532. [

That is, the object detecting unit 534 can detect an object for at least one of the images based on the disparity information.

Specifically, the object detecting unit 534 can detect an object for at least one of the images. For example, an object can be detected from a foreground separated by an image segment.

Next, the object verification unit 536 classifies and verifies the separated object.

For this purpose, the object identification unit 536 identifies the object using the neural network identification method, the SVM (Support Vector Machine) method, the AdaBoost identification method using the Haar-like feature, or the Histograms of Oriented Gradients Etc. may be used.

On the other hand, the object checking unit 536 can check the objects by comparing the objects stored in the memory 130 with the detected objects.

For example, the object identifying unit 536 can identify nearby vehicles, lanes, roads, signs, hazardous areas, tunnels, etc. located in the vicinity of the vehicle.

An object tracking unit 540 may perform tracking on the identified object. For example, it sequentially identifies an object in the acquired stereo images, calculates a motion or a motion vector of the identified object, and tracks movement of the object based on the calculated motion or motion vector . Accordingly, it is possible to track nearby vehicles, lanes, roads, signs, dangerous areas, tunnels, etc., located in the vicinity of the vehicle.

Next, the application unit 550 can calculate the risk and the like of the vehicle 100 based on various objects (e.g., other vehicles, lanes, roads, signs, etc.) located around the vehicle 100 . It is also possible to calculate the possibility of a collision with a preceding vehicle, whether the vehicle is slipping or the like.

Then, the application unit 550 can output a message or the like for notifying the user to the user as vehicle driving assistance information, based on the calculated risk, possibility of collision, sleep, or the like. Alternatively, a control signal for attitude control or running control of the vehicle 100 may be generated as the vehicle control information.

The controller 170 may include an image preprocessing unit 510, a dispaly computing unit 520, a segmentation unit 532, an object detection unit 534, an object verification unit 536, an object tracking unit 540, and an application unit 550, as shown in FIG. For example, if the cameras 161 and 122 are cameras providing only two-dimensional images, the disparity calculating unit 520 may be omitted.

6A and 6B are diagrams referred to in the description of the operation of the controller 170 shown in FIG.

6A and 6B are diagrams for explaining the operation method of the controller 170 of FIG. 5, based on the stereo image obtained in the first and second frame periods, respectively.

First, referring to FIG. 6A, when the camera 161 is a stereo camera, the camera 161 acquires a stereo image during a first frame period.

The disparity calculating unit 520 in the control unit 170 receives the stereo images FR1a and FR1b signal-processed by the image preprocessing unit 510 and performs stereo matching on the received stereo images FR1a and FR1b , And a disparity map (620).

The disparity map 620 is obtained by leveling the parallax between the stereo images FR1a and FR1b. The higher the disparity level, the closer the distance to the vehicle, and the lower the disparity level, The distance can be calculated to be far.

On the other hand, when such a disparity map is displayed, it may be displayed so as to have a higher luminance as the disparity level becomes larger, and a lower luminance as the disparity level becomes smaller.

In the figure, first to fourth lanes 628a, 628b, 628c, and 628d have corresponding disparity levels in the disparity map 620, and the construction area 622, the first forward vehicle 624 ) And the second preceding vehicle 626 have corresponding disparity levels, respectively.

The segmentation unit 532, the object detection unit 534 and the object identification unit 536 determine whether or not the segments, the object detection, and the object (s) for at least one of the stereo images FR1a and FR1b based on the disparity map 620 Perform verification.

In the figure, using the disparity map 620, object detection and confirmation for the second stereo image FRlb is performed.

That is, in the image 630, the first to fourth lanes 638a, 638b, 638c, 638d, the construction area 632, the first forward vehicle 634, the second forward vehicle 636, And verification may be performed.

Next, referring to FIG. 6B, during the second frame period, the stereo camera 161 acquires a stereo image.

The disparity calculating unit 520 in the control unit 170 receives the stereo images FR2a and FR2b signal-processed by the image preprocessing unit 510 and performs stereo matching on the received stereo images FR2a and FR2b , And a disparity map (640).

In the figure, the first to fourth lanes 648a, 648b, 648c, and 648d have corresponding disparity levels in the disparity map 640, and the construction area 642, the first front vehicle 644, and the second front vehicle 646 have corresponding disparity levels, respectively.

The segmentation unit 532, the object detection unit 534 and the object identification unit 536 determine whether or not the segments, the object detection, and the object (s) for at least one of the stereo images FR2a and FR2b based on the disparity map 640 Perform verification.

In the figure, using the disparity map 640, object detection and confirmation for the second stereo image FR2b is performed.

That is, the first to fourth lanes 658a, 658b, 658c, and 658d, the construction area 652, the first forward vehicle 654, and the second forward vehicle 656 in the image 650 are used for object detection and Verification can be performed.

On the other hand, the object tracking unit 540 may compare the FIG. 6A and FIG. 6B to perform tracking on the identified object.

Specifically, the object tracking unit 540 can track the movement of the object, based on the motion or motion vector of each object identified in FIGS. 6A and 6B. Accordingly, it is possible to perform tracking on the lane, the construction area, the first forward vehicle, the second forward vehicle, and the like, which are located in the vicinity of the vehicle.

Figure 7 shows a flow chart of an exemplary process (S700) performed by vehicle 100 in accordance with an embodiment of the present invention.

Referring to Fig. 7, in step S710, the vehicle 100 can detect a moving object adjacent to the vehicle 100. Fig. Here, the moving object adjacent to the vehicle 100 may mean a moving object located within a predetermined distance from the vehicle 100. [

More specifically, at least one of the camera 161, the radar 162, the lidar 163, and the ultrasonic sensor 163 included in the sensing unit 160 detects objects existing in the external environment of the vehicle 100 And provide sensing information on the detected objects to the control unit 170. [0033] FIG. For example, the sensing information provided from the sensing unit 160 may include a three-dimensional image of the external environment photographed by the camera 161. [ Examples of the object that can be detected by the sensing unit 160 include another vehicle, a motorcycle, a bicycle, a pedestrian, a falling object, an animal, a building, a traffic light, a road sign, and a lane.

In step S720, the vehicle 100 can determine at least one of the type and the motion characteristic of the moving object. The control unit 170 of the vehicle 100 can determine the position of the moving object and the distance between the moving object and the vehicle 100 based on the sensing information provided from the sensing unit 160. [

Specifically, the controller 170 may classify each of the objects existing in the external environment of the vehicle 100 into one of a moving object and a stationary object, based on the sensing information provided from the sensing unit 160.

For example, the control unit 170 classifies an object moving at a predetermined speed (for example, 1 m / s) among objects existing in the external environment as a moving object, and moves or stops at a speed lower than a predetermined speed An object can be classified as a stationary object. For example, when another vehicle adjacent to the vehicle 100 is stopped, the vehicle 100 can classify the other vehicle as a stationary object.

The control unit 170 can determine the type of the moving object based on the sensing information. For example, the control unit 170 extracts the contour of the moving object from the three-dimensional image included in the sensing information, confirms the appearance of the moving object, compares the confirmed appearance with a template stored in advance, Can be judged. As another example, the control unit 170 may determine the type of moving object by using HOG (Histogram of Oriented Gradient) technique or the like.

The memory 130 stores a template for each object type and the controller 170 compares the detected appearance of the moving object with the template for each object type stored in the memory 130 to determine the type of the detected moving object You can decide. For example, the control unit 170 can determine that the detected moving object is any one of another vehicle, a motorcycle, a bicycle, and a pedestrian.

The control unit 170 can determine the motion characteristics of the moving object based on the sensing information. Specifically, the motion characteristics of the moving object may include information on the speed and the moving direction of the moving object.

Further, the controller 170 can predict the future speed and the moving direction of the moving object on the basis of the speed change and the moving trajectory for the past predetermined time of the moving object.

Further, the control unit 170 can predict a future moving direction of the moving object based on at least one of a change in position, speed, and direction of a plurality of points of the moving object. For example, when the type of the moving object is a bicycle, the control unit 170 controls a point located in the wheel region of the bicycle, a point located in the handle region, and a point located in the head region of the bicycle driver at the same time Based on a change in at least one of the position, the speed, and the moving direction of the tracked points, it is possible to predict how much speed the bike will travel in which direction for one second in the forward direction.

In step S730, the vehicle 100 can set a danger zone for the moving object. Specifically, the vehicle 100 can set a dangerous area for the moving object based on at least one of the type and the motion characteristic of the moving object determined in step S720. Further, the control unit 170 can set a dangerous area for the moving object based on the predicted moving direction of the moving object.

At this time, the size and shape of the dangerous area may be changed according to the type of the moving object, the motion characteristic, the predicted moving direction, and the like. That is, the control unit 170 can change at least one of the size and shape of the dangerous area for the moving object, real-time or periodically, based on at least one of the type, the motion characteristics, and the predicted moving direction of the moving object.

On the other hand, the danger zone may include a plurality of sub-zones. At this time, the number of sub-regions included in the dangerous area may be predetermined. For example, the control unit 170 can determine, based on the user input received by the input unit, how many sub-areas the dangerous area is to be divided into.

In addition, the controller 170 may set different numbers of sub-areas for each type of moving object according to a predetermined reference or user input. For example, the control unit 170 may divide the dangerous area of the other vehicle into three sub-areas, and divide the dangerous area of the bicycle into two sub-areas.

Each sub-region may indicate a range in which the moving object can move during different time intervals. For example, one of the sub-areas indicates a range in which the moving object can move during a period from present to one second in the future, and the other one indicates a range in which the moving object can move within a period from 1 second to 2 seconds in the future Lt; / RTI > The control unit 170 may set or change at least one of the size and the shape of each sub-area based on at least one of the type of the moving object, the motion characteristics, and the predicted moving direction.

Further, the control unit 170 can set or change the dangerous area for the moving object on the basis of the external illuminance of the vehicle 100. [ For example, assuming that the other conditions are the same, the lower the external illuminance of the vehicle 100, the more the control section 170 can increase the size of the dangerous area for the moving object. This is because the darker environment requires a relatively long time for the driver of the vehicle 100 to recognize the risk of collision with the moving object.

On the other hand, the control unit 170 can set the dangerous area for the moving object only when the type of the moving object corresponds to the type pre-designated by the user. Specifically, the user can specify in advance only the type that he or she wishes to receive. For example, the user can select some of the plurality of types through the input unit 120 shown in FIG. If the type of the moving object detected by the sensing unit 160 does not correspond to the predetermined type, the control unit 170 may not set a dangerous area for the moving object.

In step S740, the vehicle 100 can determine the expected path of the vehicle 100. [

In one embodiment, the control unit 170 can determine a predicted path to be passed by the vehicle 100 within a predetermined time period, based on the speed and the direction of movement of the vehicle 100 provided from the sensing unit 160 . For example, when the vehicle 100 is currently traveling straight ahead at 10 m / s, the controller 170 may determine that the vehicle 100 will pass a portion of the road from the current position to the front 30 meters within the next three seconds.

In one embodiment, the vehicle 100 may be traveling along a searched path from the user to a destination entered. In this case, based on the motion characteristics including the speed and the moving direction of the vehicle 100, the control unit 170 determines a predicted path to be passed by the vehicle 100 within a predetermined time from among the entire paths that have been searched to the destination can do.

In step S750, the vehicle 100 may display an image indicating the danger area set by step S730. Specifically, the control unit 170 may display an image indicating the dangerous area for the moving object through the display unit 141. FIG. In this case, the control unit 170 can display the image indicating the predicted path determined in step S740 on the display unit 141 together with the image indicating the dangerous area for the moving object.

As described above, when the dangerous area includes a plurality of sub-areas, the controller 170 may display the images indicating the sub-areas on the display unit 141 so as to be distinguished from each other. For example, the display unit 141 may display the sub regions in different colors, thicknesses, patterns, brightness, transparency, fade, and blinking cycles.

In one embodiment, the vehicle 100 may display at least one of an image indicating a dangerous area and an image indicating a predicted path, on the display unit 141 in an augmented reality mode or a top view mode. For example, the vehicle 100 may select at least one of an augmented reality mode or a top view mode, an image indicating a dangerous area in a selected mode, and an image indicating a predicted path, according to a user input.

According to one embodiment, in the augmented reality mode, the vehicle 100 can display an image pointing to a danger zone close to an actual position of a moving object identified through a windshield of the vehicle 100. [ For example, the vehicle 100 can display an image indicating a dangerous area on the windshield via a head-up display (see 141b in FIG. 14) or a transparent display (see 141c in FIG. 14).

As another example, in the top view mode, the vehicle 100 can display an image indicating a dangerous area by mapping it to a map stored in the memory 130. [ For example, a map to which an image pointing to a dangerous area is mapped may be displayed on the navigation display (see 141a in Fig. 13).

On the other hand, the controller 170 can adjust the scale of the map based on the congestion around the vehicle 100 in the top view mode. In one embodiment, the control unit 170 determines the total number of objects located in the external environment of the vehicle 100 based on the sensing signal provided from the sensing unit 160, , The congestion degree around the vehicle 100 can be calculated. For example, the control unit 170 can calculate the congestion around the vehicle 100 in proportion to the total number of objects located in the external environment of the vehicle 100. [

For example, the control unit 170 controls the display unit 141 to reduce the scale of the map displayed on the display unit 141 in the top view mode as the congestion around the vehicle 100 increases, that is, as the total number of objects adjacent to the vehicle 100 increases . On the other hand, when the congestion degree of the surroundings of the vehicle 100 is low, that is, the total number of the objects adjacent to the vehicle 100 is small, the control unit 170 increases the scale of the map displayed on the display unit 141 in the top view mode can do. As a result, the scale of the map becomes smaller at the congested section (for example, at the intersection where the work is completed), so that the driver of the vehicle 100 can easily confirm the moving object relatively closer to the vehicle 100.

In step S760, the vehicle 100 can determine whether there is a portion of the dangerous area set for the moving object that overlaps with the anticipated route of the vehicle 100. [ For example, the control unit 170 can determine which of the sub-regions included in the dangerous area overlaps the expected route of the vehicle 100. [

If it is determined that a part of the dangerous area set for the moving object overlaps with the expected path of the vehicle 100, step S770 may be performed. On the other hand, when it is determined that a portion of the dangerous area set for the moving object does not overlap with the expected route of the vehicle 100, the control unit 170 determines that there is no risk of collision between the vehicle 100 and the moving object, , The process S700 can be terminated.

In step S770, the vehicle 100 can perform a function corresponding to a part of the dangerous area set for the moving object that overlaps with the expected route of the vehicle 100. [ Specifically, the vehicle 100 can execute at least one of the predetermined functions based on the sub-region that overlaps the expected path of the vehicle 100. [ For example, the predetermined functions include (i) a visual or audible alarm output to the driver of the vehicle 100, (ii) control of the deceleration device of the vehicle 100, (iii) steering of the vehicle 100 (Iv) control of the illumination device of the vehicle 100, as will be described below. The predetermined functions may be set to defaults at the time of shipment of the vehicle 100, or may be set according to user input.

In one embodiment, the memory 130 may store a data table in which the correspondence between each of the sub regions included in the dangerous area and a predetermined plurality of functions is recorded. At this time, the function corresponding to one of the sub regions may be two or more.

For example, in the data table, one sub-region may be associated with a first function, and the other sub-region may be associated with a second function different from the first function. As another example, in the data table, one sub-region may be associated with the first function and the other sub-region may be associated with the first function and the second function. If the sub-areas of the sub-areas overlap with the predicted path of the vehicle 100, the control unit 170 can execute the first function based on the data table. On the other hand, of the sub areas, when the sub area associated with the second function overlaps the expected route of the vehicle 100, the controller 170 can execute the second function based on the data table.

On the other hand, based on the distance between the sub-region and the vehicle 100 that overlaps the expected route of the vehicle 100, the control unit 170 determines control parameters for the function corresponding to the sub- parameter (for example, braking force, steering angle, volume of warning sound, size or brightness of warning message, intensity of beam output by headlight, magnitude of horn sound, etc.). For example, when a function of braking the vehicle 100 in correspondence to a certain sub region (for example, a braking assist function or an emergency braking function) is executed, the closer the distance of the vehicle 100 from the sub region is , A larger braking force can be generated. As another example, when the function of automatically steering the vehicle 100 is executed corresponding to the other sub region, the greater the distance from the sub region to the vehicle 100, the larger the steering angle can be set.

Although the plurality of steps included in the above-described process (S700) with reference to FIG. 7 are sequentially illustrated, they may be performed in a different order from that shown in FIG. For example, one step included in the process S700 may be performed in parallel with the other step. Further, an additional step may be further included in the process (S700).

8A and 8B show an example of a dangerous area set for each type of moving object according to an embodiment of the present invention.

Referring to FIG. 8A, the controller 170 may set a dangerous area of a bar shape for a moving object based on the movement characteristics and the type of the moving object.

The other vehicle 801, the motorcycle 802, the bicycle 803, and the pedestrian 804, which are moving at the same speed (for example, 5 m / s) and in the moving direction Suppose it is detected.

The maximum acceleration, the maximum acceleration, and the minimum turning radius for each type of object may be stored in advance in the memory 130, and the controller 170 may control the movement and type of the moving object based on the maximum speed and the maximum acceleration, You can set a danger zone on an object. For example, the maximum speed and the maximum acceleration per object type can be lowered in the order of the other vehicle 801, the motorcycle 802, the bicycle 803, and the pedestrian 804. As another example, the minimum turning radius per object type may be reduced in the order of the other vehicle 801, the motorcycle 802, the bicycle 803, and the pedestrian 804.

As shown in the figure, the control unit 170 determines whether the speed of the vehicle 801, the motorcycle 802, the bicycle 803, and the pedestrian 804 is the same (e.g., 5 m / s) The longest dangerous area 810 is set on the other vehicle 801 and the second longest dangerous area 820 is set on the motorcycle 802 based on the maximum speed and maximum acceleration per type, The third longest danger zone 830 can be set and the shortest danger zone 840 can be set in the pedestrian 804. [

Of course, the maximum speed, maximum acceleration, and minimum turning radius for each type of object may be stored differently from the above example.

Next, referring to FIG. 8B, the control unit 170 may divide the dangerous area of the moving object into two or more sub-areas. That is, the danger zone may include more than one sub-zone. As shown in FIG. 8B, each of the four hazardous areas 810, 820, 830, and 840 may include three sub-areas. Specifically, the dangerous area 810 for the other vehicle 801 may include the first to third sub areas 811 to 813. In addition, the dangerous area 820 for the motorcycle 802 may include the first to third sub areas 821 to 823. In addition, the dangerous zone 830 for the bicycle 803 may include the first to third sub-areas 831 to 833. In addition, the hazardous area 840 for the pedestrian 804 may include first through third sub-areas 841 - 843.

At this time, each of the sub-areas for each moving object may indicate a movable distance of the moving object during different time intervals. For example, the sub area 813 for the other vehicle 801 indicates the distance that the other vehicle 801 is predicted to pass in the next one second to 5 m / s, and the sub area 812 indicates the distance to the other vehicle 801, Indicates a distance expected to pass in the next 1 second to 2 seconds at 5 m / s, and the sub area 811 indicates the distance that the other vehicle 801 is predicted to pass from 2 seconds to 3 seconds from 5 m / s . As another example, the subarea 823 for motorcycle 802 may indicate the distance at which the motorcycle 802 is expected to pass for the next one second at 5 m / s.

9 shows another example of a dangerous area set for each type of moving object according to an embodiment of the present invention.

Referring to FIG. 9, unlike FIGS. 8A and 8B, the control unit 170 can set a dangerous area for a moving object.

The control unit 170 determines whether the speed of the other vehicle 801, the motorcycle 802, the bicycle 803 and the pedestrian 804 is the same (for example, 5 m / s) The longest danger zone 910 is set on the other vehicle 801 based on the maximum acceleration force and the second longest danger zone 920 is set on the motorcycle 802 and the third longest danger zone (930), and set the shortest danger zone (940) in the pedestrian (804).

The control unit 170 also controls the moving direction of the other vehicle 801, the motorcycle 802, the bicycle 803 and the pedestrian 804 in the same direction (for example, in the X axis direction) Based on the minimum turning radius, different central angles can be set for the hazardous areas 910, 920, 930, and 940.

For example, as shown in the drawing, the center angle of the dangerous areas 910, 920, 930, and 940 may become larger in order of the other vehicle 801, the motorcycle 802, the bicycle 803, and the pedestrian 804. That is, the magnitude relation of? 1 <? 2 <? 3 <? 4 can be established.

FIG. 10 shows another example of a dangerous area set for each type of moving object according to an embodiment of the present invention.

Referring to FIG. 10, unlike FIGS. 8A to 9, the controller 170 may set a dangerous area in the form of isoline for a moving object.

The control unit 170 can control the speed of the vehicle 801 even if the speed (e.g., 5m / s) and the moving direction (e.g., the X-axis direction) of the other vehicle 801, the motorcycle 802, the bicycle 803 and the pedestrian 804 are the same The maximum risk zone 1010 is set in the other vehicle 801 and the second wide risk zone 1020 is set in the motorcycle 802 based on the maximum speed, maximum acceleration, A third dangerous area 1030 may be set on the bicycle 803 and a dangerous area 1040 may be set on the pedestrian 804.

At this time, each of the sub-areas for each moving object may indicate a movable range of the moving object during different time intervals. For example, the sub area 1013 for the other vehicle 801 indicates a range in which the other vehicle 801 is predicted to pass in the next one second at 5 m / s, and the sub area 1012 indicates the range for the other vehicle 801, Indicates a range expected to pass in the next 1 second to 2 seconds at 5 m / s, and the sub area 1011 indicates a range in which the other vehicle 801 is predicted to pass from 2 seconds to 3 seconds at 5 m / s .

Fig. 11 shows an exemplary method of changing the dangerous area for a moving object based on the speed of the moving object, according to an embodiment of the present invention. For convenience of explanation, it is assumed that the dangerous area is a bar shape including three subareas as shown in Fig. 8B.

The control unit 170 can change at least one of the size and the shape of the dangerous area 810 in real time or periodically based on the speed change of the moving object.

Referring to FIG. 11, the other vehicle 801 moving at 5 m / s toward the X-axis direction can decelerate to 3 m / s. The control unit 170 can reduce the length of the dangerous area 810 in response to the speed reduction amount of the other vehicle 802. [ For example, the control unit 170 may decrease the length of the dangerous area 810 in proportion to the speed reduction amount of the other vehicle 802. [

Further, the other vehicle 801, which is moving at 5 m / s toward the X-axis direction, can accelerate to 7 m / s. The control unit 170 may increase the length of the hazardous area 810 corresponding to the speed increase amount of the other vehicle 802. [ For example, the control unit 170 can increase the length of the dangerous area 810 in proportion to the speed increase amount of the other vehicle 802. [

At this time, the total reduction amount or the total increase amount of the length of the hazardous area 810 can be evenly distributed to each of the sub areas 811, 812, 813. For example, if the speed of the other vehicle 801 is increased by 30%, the length of each of the sub-areas 811, 812, 813 may be as long as 30%. As another example, when the speed of the other vehicle 801 is reduced by 10%, the length of each of the sub regions 811, 812, 813 can be shortened by 10%.

Figs. 12A and 12B show an exemplary method of changing a dangerous area, based on the predicted movement direction of a moving object, according to an embodiment of the present invention.

The vehicle 100 can predict how much the specific moving object moves in which direction in the future using the motion estimation process technique. For example, based on a change in at least one of a position, a speed, and a moving direction of a plurality of points of a moving object, a future moving direction of the moving object is predicted, and based on the predicted moving direction, Can be changed. In other words,

12A illustrates a case where the moving object is a bicycle 803. Fig. The control unit 170 detects and tracks a plurality of points for the bicycle 803 and the occupant 1201 so as to detect the position of the plurality of points P1, P2, and P3 at at least one of the position, Can be calculated. For example, the point P1 is a point on the head of the occupant 1201 of the bicycle 803, the point P2 is a point of the handle of the bicycle 803, the point P3 is a point of the wheel of the bicycle 803, Or a point in time.

As shown in the figure, the control unit 170 calculates a motion vector (motion) for each of the plurality of points P1, P2, and P3 based on the position, the speed, and the moving direction of the plurality of points P1, P2, vector) (V1, V2, V3). The motion vector V2 represents the position of the point P2 and the direction of movement and the velocity of the point P2 and the motion vector V3 represents the position of the point P1 at the point P3, The direction of movement, and the speed. The control unit 170 can set the dangerous area 1200 including the plurality of subareas 1201, 1202, and 1203 based on the motion characteristics of the bicycle 803 together with the obtained motion vector .

12B is a diagram illustrating a case where the motion vectors V1, V2 and V3 of the plurality of points P1, P2 and P3 shown in FIG. 12A are changed to the motion vectors V1 ', V2' and V3 ' 1210 &lt; / RTI &gt; The control unit 170 controls the size and shape of the dangerous area 1200 based on the difference between the motion vectors V1, V2 and V3 and the motion vectors V1 ', V2' and V3 ' You can change it. Specifically, the sub area 1201 may be changed to the sub area 1211, the sub area 1202 may be changed to the sub area 1212, and the sub area 1203 may be changed to the sub area 1213. [

Meanwhile, it should be understood that various techniques such as a well-known BMA (Block Matching Algorithm) technique can be used for motion estimation of a specific moving object.

FIG. 13 shows an example of a user interface screen provided by the vehicle 100 to the user through the display unit 141 according to an embodiment of the present invention.

Referring to FIG. 13, the controller 170 may display a user interface 1310 on the navigation display 141a for receiving a type of a moving object to be guided to the user of the vehicle 100. FIG. The navigation display 141a may be a display included in the display unit 141 shown in Fig.

The user interface 1310 may include selection menus 1311, 1312, 1313, and 1314 for each type of moving object that can be detected by the sensing unit 160. For example, the selection menu 1311 may point to another vehicle, the selection menu 1312 to a motorcycle, the selection menu 1313 to a bicycle, and the selection menu 1314 to a pedestrian.

When the navigation display 141a is a touch screen, the user of the vehicle 100 can touch at least one of the selection menus 1311, 1312, 1313, and 1314 to select a type of moving object have. For example, when the user touches the selection menu 1311, the vehicle 100 can set only the dangerous area for the other vehicle, excluding the motorcycle, the bicycle, and the pedestrian among the external objects.

According to Fig. 13, by setting only the dangerous area for the moving object of the type selected by the user, the vehicle 100 can be prevented from being disturbed by the user due to the unintentional provision of information on the moving object of the type Can be prevented.

14A to 14C show how the vehicle 100 according to an embodiment of the present invention displays an image corresponding to a dangerous area.

First, FIG. 14A shows an exemplary top view of an intersection 1400 where the vehicle 100 is entering. For convenience of explanation, it is assumed that the vertical direction is the X-axis and the horizontal direction is the Y-axis. The vehicle 100 is traveling toward the intersection 1400 along the X axis and the other vehicle 1401 is traveling toward the intersection 1400 along the Y axis.

The control unit 170 can set a dangerous area for the other vehicle 1401 based on the motion characteristics including the moving direction and the speed of the other vehicle 1401. [ In addition, the control unit 170 can determine a predicted path of the vehicle 100 based on the motion characteristics including the moving direction and the speed of the vehicle 100. [

On the other hand, the vehicle 100 can display at least one of the image indicating the dangerous area for the other vehicle 1401 and the image indicating the expected route of the vehicle 100 in the augmented reality mode or the top view mode. 14b and 14c.

14B shows an example in which the vehicle 100 displays an image 1410 indicating a dangerous area of the other vehicle 1401 and an image 1420 indicating a predicted path of the vehicle 100 in an augmented reality mode. As shown, a navigation display 141a, a head-up display 141b, and a transparent display 141c may be provided in the interior of the vehicle 100. [

Augmented reality refers to a technique or a display method that superimposes a virtual image created by computer programming on a real world that is visible to the user's eyes.

The vehicle 100 displays the image 1410 indicating the dangerous area of the other vehicle 1401 and the image 1420 indicating the estimated route of the vehicle 100 through the head up display 141b or the transparent display 141c, Can be displayed on the windshield of the vehicle (100). Specifically, as shown in FIG. 14B, the driver of the vehicle 100 can visually confirm the other vehicle 1401 through the windshield. The other vehicle 1401 is moving from the right side to the left side of the intersection and the image 1410 indicating the dangerous area is displayed in a form extending to the left along the Y axis from the front side of the other vehicle 1401 viewed beyond the windshield .

In addition, the image 1420 indicating the expected path of the vehicle 100 may extend from the lower end of the windshield to a region corresponding to the expected path length.

14C shows an example in which the vehicle 100 displays an image indicating a dangerous area for another vehicle and an image indicating a predicted route of the vehicle 100 in a top view mode.

Specifically, the controller 170 may display an indicator 1431 indicating the position of the vehicle 100 on the map 1430 stored in the memory 130 in the top view mode. In addition, the control unit 170 may map an image 1432 indicating a predicted path of the vehicle 100 to the map 1430. For example, as an image indicative of the expected path of the vehicle 100, an indicator 1432 may be included in the map 1430. At this time, since the vehicle 100 is moving forward along the X axis, the indicator 1432 may be displayed in front of the indicator 1431. [

Also, the control unit 170 may display an indicator 1433 indicating the position of the other vehicle 1401 on the map 1430. The control unit 170 may display the indicator 1434 on the map 1430 as an image indicating the dangerous area of the other vehicle 1401. [ At this time, since the other vehicle 1401 is moving forward along the Y axis, the indicator 1434 may be displayed in front of the indicator 1433. [

The control unit 170 can determine whether to display an image indicating a dangerous area and an image indicating a predicted route of the vehicle 100 in augmented reality mode or in a top view mode according to user input.

15A and 15B show how the vehicle 100 according to an embodiment of the present invention adjusts the scale of the map based on the surrounding congestion in the top view mode.

15A shows an exemplary top view of an intersection 1500 where the vehicle 100 is entering. For convenience of explanation, it is assumed that the vertical direction is the X-axis and the horizontal direction is the Y-axis.

The control unit 170 can adjust the scale of the map based on the congestion around the vehicle 100 in the top view mode.

The control unit 170 may determine the total number of moving objects located in the external environment of the vehicle 100 based on the sensing signal provided from the sensing unit 160. [ For example, as shown in the figure, two pedestrians 1511 and 1512, one bicycle 1521, and four other vehicles 1531, 1532, 1533, and 1534 located around the intersection 1500 are connected to the sensing unit 160, &lt; / RTI &gt;

The control unit 170 can calculate the congestion level based on the total number of moving objects detected by the sensing unit 160. [ For example, when less than two moving objects are detected at a specific point in time, the controller 170 calculates the congestion degree of the first value, and when two or more moving objects are detected, the congestion degree of the second value Can be calculated. In addition, the control unit 170 can adjust the scale of the map so that only moving objects corresponding to the degree of congestion are displayed on the map.

If the congestion degree is the second value, the control unit 170 determines that the eight moving objects 1511, 1512, 1521, 1531, 1532, 1533 and 1534 are detected, 1512, 1521, 1531, 1532, 1533, 1534 are arranged in descending order of distance from the vehicle 100, the scale of the map can be adjusted so that only the upper two moving objects 1512, 1521 are displayed.

That is, as the congestion around the vehicle 100 increases, the control unit 170 can reduce the scale of the map to be displayed in the top view mode.

15B shows a state in which only two moving objects 1512 and 1521 that are closest to the vehicle 100 among the moving objects 1511, 1512, 1521, 1531, 1532, 1533, This controlled map 1540 is illustrated.

Referring to FIG. 15B, the map 1540 may include an indicator 1541 indicating the position of the vehicle 100. Further, the control unit 170 may map an image indicating a predicted path of the vehicle 100 to the map 1540. [ For example, as an image indicating the expected path of the vehicle 100, an indicator 1542 may be included in the map 1540. At this time, since the vehicle 100 is moving forward along the X axis, the indicator 1542 may be displayed in front of the indicator 1541. [

In addition, the controller 170 may display an indicator 1545 indicating the position of the pedestrian 1512 on the map 1540. The controller 170 may display an indicator 1546 on the map 1540 as an image indicating a dangerous area of the pedestrian 1512. [

In addition, the controller 170 may display an indicator 1543 indicating the position of the bicycle 1521 on the map 1540. The control unit 170 may display the indicator 1544 on the map 1540 as an image indicating the dangerous area of the bicycle 1521. [

On the other hand, although not shown, the vehicle 100 can display only the indicator for the selected type of moving object on the map through the user interface 1310 shown in FIG. For example, when only the selection menu 1313 designating the bicycle in the user interface 1310 is selected, the controller 170 controls the indicator 1545 indicating the position of the pedestrian 1512 and the indicator 1520 indicating the dangerous area of the pedestrian 1512 The indicator 1546 may not be displayed on the map 1540.

FIG. 16 illustrates a data table 1610 in which a relationship between sub-areas and functions included in a dangerous area according to an embodiment of the present invention is defined.

According to FIG. 16, the dangerous area of the moving object can be divided into three sub-areas. The data table 1610 may include a relationship between three sub-regions included in the critical region and at least one function corresponding to each sub-region. At this time, one sub-area may be associated with two or more different functions by the data table 1610. This data table 1610 may be stored in the memory 130.

For example, if the expected path of the vehicle 100 overlaps the first of the three sub-areas, the controller 170 may select an alarm output function corresponding to the first sub-area from the data table 1610 have. When the alarm output function is selected, the control unit 170 instructs the driver of the vehicle 100 to use audible feedback (e.g., an alarm sound) through the sound output unit 142 or visual feedback through the display unit 141 Can be output.

For example, when the expected path of the vehicle 100 overlaps with the second sub-area of the three sub-areas, the control unit 170 receives an alarm output function corresponding to the second sub-area from the data table 1610, Braking function can be selected. When the emergency braking function is selected, the control unit 170 can generate a predetermined braking force to the vehicle 100 through the brake driving unit 153.

For example, when the expected path of the vehicle 100 overlaps with the third sub-area of the three sub-areas, the control unit 170 outputs an alarm output function corresponding to the third sub-area from the data table 1610, Emergency braking function and emergency steering function can be selected. When the emergency steering function is selected, the control unit 170 can change the traveling direction of the vehicle 100 so as to reduce the risk of collision with the moving object through the steering driving unit 152.

17 shows an example of a map 1700 indicating a dangerous area for a moving object according to an embodiment of the present invention.

Referring to Fig. 17, when the vehicle 100 approaches the intersection, the vehicle 100 can detect two other vehicles as moving objects adjacent to the intersection. Thus, along with the indicator 1710 indicating the vehicle 100, indicators 1720 and 1730 indicating the two detected vehicles can be displayed.

At this time, the vehicle 100 determines whether to display the dangerous area for the two other vehicles based on the motion characteristics of the first vehicle indicated by the indicator 1720 and the second vehicle indicated by the indicator 1730 .

For example, the first rider indicated by the indicator 1720 is moving away from the vehicle 100, and the control unit 170 determines that there is no risk of collision between the first rider indicated by the indicator 1720 and the vehicle 100 It may be determined that the danger level of the first rider indicated by the indicator 1720 is not displayed on the map 1700. On the other hand, since the distance between the second vehicle indicated by the indicator 1730 and the vehicle 100 is reduced, the control unit 170 determines that there is a risk of a potential collision between the second vehicle indicated by the indicator 1730 and the vehicle 100 And may not display the dangerous area 1740 for the second vehicle indicated by the indicator 1730 on the map 1700. [

In particular, the danger zone 1740 may include a plurality of sub-zones 1741, 1742, and 1743. The size and shape of each of the sub regions 1741, 1742, and 1743 may be determined in accordance with the speed and direction of movement of the other vehicle indicated by the indicator 1730. For example, since the second target pointed by the indicator 1730 is moving forward, all of the sub-areas 1741, 1742, and 1743 may be displayed in front of the indicator 1730. [ In addition, each of the sub-areas 1741, 1742, and 1743 may have a length corresponding to the speed of the second other vehicle indicated by the indicator 1730. [

On the other hand, the vehicle 100 can display the estimated route 1711 of the vehicle 100 on the map 1700. [ The vehicle 100 can determine the length and shape of the icon 1711 indicating the estimated route to be displayed on the map 1700 based on the speed of the vehicle 100, the direction of travel and the route to the destination. For example, when the vehicle 100 is running straight, the icon 1711 indicating the predicted path of the vehicle 100 may be indicated by an arrow corresponding to the forward direction as shown in Fig.

On the other hand, since there is no overlap between the dangerous area 1740 and the expected route 1711, the vehicle 100 does not execute any of the executable functions to avoid collision with the second vehicle indicated by the indicator 1730 .

17, the vehicle 100 selects only a moving object of a specific type (e.g., another vehicle) having a risk of collision with the vehicle 100 of a certain level or more among a plurality of moving objects adjacent to the vehicle 100, Only the dangerous area for the selected moving object can be guided to the driver.

FIG. 18 shows an example of a map 1800 displaying a danger zone for a moving object related to FIG. 17, according to an embodiment of the present invention.

As the moving object and the vehicle 100 move along the road, the moving characteristic of the moving object and the moving characteristic of the vehicle 100 can be changed. The vehicle 100 can change the map displayed on the display unit 141 to another map in real time or periodically based on at least one of the motion characteristics of the moving object and the motion characteristics of the vehicle 100. [

As the vehicle 100 indicated by the indicator 1710 and the second vehicle indicated by the indicator 1730 indicated in the map 1700 shown in Fig. 17 are closer to the intersection, the vehicle 100 is displayed on the map 1700 Can be changed to the map 1800.

18, the indicator 1720 pointing to the first rider is no longer displayed on the map 1800 as the first rider indicated by the indicator 1720 shown in Fig. 17 moves away from the vehicle 100 .

Further, as the vehicle 100 further moves toward the intersection, the icon 1711 indicating the anticipated route of the vehicle 100 can be changed to a crisscross shape as shown in Fig. 18 in the straight line shape as shown in Fig. That is, the icon 1711 shown in FIG. 18 can notify that the vehicle 100 is going to turn leftward in the future. At this time, the controller 170 can determine the length of the icon 1711 indicating the estimated route of the vehicle 100, based on the speed of the vehicle 100, the direction of travel, and the route to the destination.

In addition, as shown, when the vehicle 100 is running straight, an icon 1711 indicating the expected path of the vehicle 100 may be displayed in front of the indicator 1710 pointing to the vehicle 100.

On the other hand, in the map 1800, it can be confirmed that the icon 1711 indicating the predicted path of the vehicle 100 overlaps with the dangerous area 1740 of the second vehicle indicated by the indicator 1730. That is, the icon 1711 overlaps with the first sub-area 1741 which is one of the plurality of sub-areas 1741, 1742, and 1743 included in the dangerous area 1740 of the second vehicle.

The control unit 170 can access the memory 130 and select a function corresponding to the sub region 1741 overlapping the expected route of the vehicle 100 from the data table 1610 shown in Fig. 18, when the predicted path of the vehicle 100 overlaps with the first sub-area 1741 of the second vehicle, the control unit 170 refers to the data table 1610, Output function can be selected and executed.

As the alarm output function is executed, the vehicle 100 can provide the driver with visual feedback indicating the risk of collision between the second rider and the vehicle 100. [ At this time, based on the motion characteristics of the vehicle 100, the motion characteristics of the second vehicle, and the actual distance between the first sub-area 1741 and the vehicle 100, the controller 170 controls the vehicle 100 and the second It is possible to predict the time remaining until the collision between the other vehicles, and to provide the driver with the visual feedback including the predicted time. As an example, in one area of the map 1800, a message 1810 (e.g., "After 3 seconds, a forward collision with a vehicle is expected. ) May be displayed. Along with this, a warning icon 1820 may be displayed adjacent to the indicator 1730 indicating the second rider.

According to FIG. 18, the driver of the vehicle 100 has an advantage that the risk of potential collision between the vehicle 100 and the moving object can be easily grasped through the map displayed in the top view mode. Of course, it is apparent to those skilled in the art that the control unit 170 can output auditory feedback corresponding to visual feedback simultaneously with the output of visual feedback.

FIG. 19 shows an example of a map 1900 indicating a danger zone for a moving object related to FIG. 18, according to an embodiment of the present invention.

19, the vehicle 100 moves the map 1800 to the map 1900 as the second vehicle indicated by the indicator 1730 and the vehicle 100 indicated by the indicator 1710 are closer to each other Can be changed.

19, the vehicle 100 can confirm that the estimated route icon 1711 of the vehicle 100 and the dangerous area 1740 of the second vehicle overlap in the map 1900. [ In contrast to FIG. 18, in FIG. 19, the icon 1711 is overlapped with the second sub-area 1742 of the hazardous area 1740.

The control unit 170 can access the memory 130 and select a function corresponding to the sub region 1742 overlapping the expected route of the vehicle 100 from the data table 1610 shown in Fig. 19, when the predicted path 1711 of the vehicle 100 and the second sub-area 1742 of the second vehicle overlap each other, the control unit 170 refers to the data table 1610 So that the alarm output function and the emergency braking function can be selected and executed. The execution of the alarm output function has been described above with reference to FIG. 18, and a detailed description thereof will be omitted.

As the emergency braking function is selected, the vehicle 100 can reduce the speed of the vehicle 100 through the brake driving unit 153. [ In one area of the map 1900, a message 1910 indicating that the emergency braking function is executed (e.g., "emergency braking function is executed") may be displayed.

Fig. 20 shows an example of a map 2000 displayed when the vehicle 100 executes the emergency braking function with reference to Fig.

20, when the emergency braking function is executed and the speed of the vehicle 100 is reduced, the length of the indicator 1711 indicating the predicted path of the vehicle 100 can be relatively shortened have.

The vehicle 100 can adjust the length of the indicator 1711 indicating the expected path of the vehicle 100 based on the speed of the vehicle 100. [ As the emergency braking function is executed to reduce the speed of the vehicle 100, the distance that the vehicle 100 can travel for the same time also decreases, so that the length of the indicator 1711 becomes shorter than the reduced speed of the vehicle 100 .

On the other hand, as the speed of the vehicle 100 is reduced so that no collision between the second rider and the vehicle 100 occurs and the second rider is passed to the side of the vehicle 100, An indicator 1740 indicating the dangerous area of the second rider may no longer be displayed on the map 2000.

Further, the vehicle 100 may display a message 2010 (e.g., "release emergency braking function") indicating the deactivation of the emergency braking function in one area of the map 2000.

FIG. 21 shows an example of a map 2100 indicating a dangerous area for a moving object related to FIG. 19 according to an embodiment of the present invention.

19, the vehicle 100 is moved from the map 2100 to the estimated route icon 1711 of the vehicle 100 and the third sub-area 1743 of the dangerous area 1740 of the second vehicle ) Are overlapped with each other.

The control unit 170 accesses the memory 130 and can select a function corresponding to the sub region 1743 overlapping the expected route of the vehicle 100 from the data table 1610 shown in Fig. 21, when the predicted path 1711 of the vehicle 100 and the third sub-area 1743 of the second vehicle overlap, the control unit 170 refers to the data table 1610 So that the alarm output function, the emergency braking function, and the emergency steering function can be selected and executed. The execution of the alarm output function and the emergency braking function has been described above with reference to Figs. 18 and 19, and a detailed description thereof will be omitted.

The control unit 170 displays a message 2110 (e.g., "emergency braking function and emergency steering function is executed") indicating that the emergency steering function is executed when executing the emergency steering function in one area of the map 2100 can do. At the same time, the control unit 170 determines whether or not the vehicle 100 and the second rider are on the basis of the motion characteristics of the vehicle 100, the motion characteristics of the second rider, and the distance between the vehicle 100 and the third sub- It is possible to calculate the steering angle of the vehicle 100 required for collision avoidance between the vehicles. The control unit 170 may provide the calculated steering angle information to the steering driver 152 to change the moving direction of the vehicle 100. [

At this time, when the size of the calculated steering angle is greater than or equal to a predetermined threshold value, the vehicle 100 can cancel the previous search route and search for a new route.

22 shows an example of the map 2200 displayed when the vehicle 100 executes the emergency braking function and the emergency steering function with reference to Fig.

22, as the emergency braking function is executed to decrease the speed of the vehicle 100, the length of the indicator 1711 indicating the predicted path of the vehicle 100 becomes shorter than that shown in Fig. 21 . Further, as the emergency steering function is executed and the moving direction of the vehicle 100 is changed, the indicator 1711 indicating the predicted path of the vehicle 100 can guide the upper road, not the road on the left side of the intersection.

On the other hand, as the speed and the moving direction of the vehicle 100 are changed so that no collision between the second rider and the vehicle 100 occurs and the second rider is passed to the side of the vehicle 100, 100 may no longer display an indicator 1740 on the map 2200 indicating the danger zone of the second rider.

The vehicle 100 also receives a message 2210 (e.g., "Disable the emergency braking function and the emergency steering function) to inform that the emergency braking function and the emergency steering function are deactivated and the new path is applied to the vehicle 100. [ Quot ;, " apply route ") can be displayed in one area of the map 2200. For example, the indicator 1711 shown in FIG. 21 notifies that the vehicle 100 is scheduled to turn left, while the indicator 1711 shown in FIG. 22 guides the vehicle 100 to be straightened. That is, when the vehicle 100 is suddenly changed in the moving direction of the vehicle 100 or when the moving direction of the vehicle 100 is predicted to change abruptly by executing the emergency steering function, based on the calculated steering angle, It is possible to automatically cancel the previous searched route and guide the new route to the driver.

23 shows an example in which the vehicle 100 according to an embodiment of the present invention determines control parameters for a specific function based on a dangerous area for a moving object.

Referring to FIG. 23, an indicator 2310 indicating the position of the vehicle 100 and an indicator 2330 indicating the position of another vehicle may be displayed on the map 2300. The vehicle 100 is displayed in front of the indicator 2310 to indicate an expected path of the vehicle 100 when the vehicle 100 and the other vehicle are traveling in directions different from each other in the direction of the intersection, And an indicator 2340 indicating a dangerous area of the other vehicle may be displayed in front of the indicator 2330. [

On the other hand, when the indicator 2320 indicating the predicted path of the vehicle 100 overlaps the indicator 2340 indicating the dangerous area of the other vehicle, the control unit 170 controls the predicted path of the vehicle 100 The function corresponding to the overlapping portion can be executed. As shown in the figure, when the indicator 2320 indicating the predicted path of the vehicle 100 overlaps with the second sub-area 2342 of another vehicle, the control unit 170 refers to the data table 1610, Can be selected and executed. In addition, the control unit 170 can display a message 2350 notifying the execution of the emergency braking function in one area of the map 2300.

On the other hand, when the emergency braking function is executed, the vehicle 100 can determine the braking force to be applied to the vehicle 100 based on the distance between the vehicle 100 and the second sub region 2342. [ For example, as shown, when the distance between the vehicle 100 and the second sub-area 2342 is the first distance L1, the controller 170 controls the controller 170 to generate a braking force corresponding to the first distance L1 The brake driver 153 can be controlled. The controller 170 may also display an image 2351 indicating that the braking force corresponding to the first distance L1 (e.g., 'LEVEL 2') is applied to the vehicle 100 in an area of the map 2300 have.

Fig. 24 shows another example in which the vehicle 100 according to an embodiment of the present invention determines control parameters for a specific function, based on the dangerous area for the moving object related to Fig.

23, similar to the map 2300 shown in FIG. 23, the map 2400 includes an indicator 2310 indicating the vehicle 100, an indicator 2320 indicating the estimated route of the vehicle 100, An indicator 2330 indicating a vehicle and an indicator 2340 indicating a dangerous area of another vehicle may be displayed.

23, since the indicator 2320 indicating the predicted route of the vehicle 100 overlaps with the second sub-area 2342 of the other vehicle, the controller 170 displays a message (not shown) for notifying the execution of the emergency braking function 2450 can be displayed in one area of the map 2400.

On the other hand, as the vehicle 100 advances, the distance L2 between the vehicle 100 and the second sub-area 2442 may be smaller than the distance L1 shown in Fig. For example, as shown, when the distance between the vehicle 100 and the second sub-area 2442 is reduced from the first distance L1 to the second distance L2, the controller 170 controls the second distance L2, It is possible to control the brake driver 153 so as to generate the braking force corresponding to the braking force. In this case, since the second distance L2 is shorter than the first distance L1 and the risk of collision between the vehicle 100 and the other vehicle is relatively high, the braking force corresponding to the second distance L2 is greater than the first distance L1 L1). &Lt; / RTI &gt; That is, as the distance between the vehicle 100 and the second sub region 2442 is reduced, the braking force applied to the vehicle 100 can be increased.

The controller 170 may also display an image 2451 indicating that the braking force corresponding to the second distance L2 (e.g., 'LEVEL 4') is applied to the vehicle 100 in an area of the map 2400 have.

23 and 24, the vehicle 100 has a function of determining, based on the distance between the vehicle 100 and the dangerous area, even if the overlapping portion of the predicted path of the vehicle 100 and the dangerous area of the moving object is the same, The control parameters for at least one function can be adjusted. As a result, the risk of collision between the vehicle 100 and the adjacent moving object can be more aggressively reduced.

23 and 24, the emergency braking function has been described as an example. However, similar functions may be applied to other functions. For example, when the estimated path 2320 of the vehicle 100 overlaps the first sub-area 2341, the controller 170 determines that the distance between the vehicle 100 and the first sub-area 2341 decreases, It is possible to increase the size (for example, volume) of the enemy feedback. For example, when the estimated path 2320 of the vehicle 100 overlaps with the third sub-area 2343, the control unit 170 determines that the distance between the vehicle 100 and the third sub-area 2343 is reduced, It is possible to increase the steering angle for collision avoidance with other vehicles.

25A and 25B show an example in which the vehicle 100 provides a risk of collision with a moving object to the augmented reality according to an embodiment of the present invention. For convenience of explanation, it is assumed that a selection menu 1313 indicating a bicycle is selected through the user interface 1310 shown in FIG.

First, referring to FIG. 25A, a head-up display 141b and a transparent display 141c may be mounted in the interior of the vehicle 100. FIG. The driver of the vehicle 100 can visually confirm the bicycle 2510 and the other vehicle 2520 through the windshield. For example, the bicycle 2510 may be moving forward in the right side of the car where the vehicle 100 is located, and the other vehicle 2520 may be in a state of moving forward in the left lane of the vehicle 100. [

The vehicle 100 can detect the bicycle 2510 and the other vehicle 2520 using the sensing unit 160. [ The vehicle 100 sets a dangerous area only for the bicycle 2510, which is the moving object type corresponding to the selection menu 1313, among the detected bicycle 2510 and the other vehicle 2520, An indicator 2511 indicating the windshield can be displayed on the windshield. For example, the control unit 170 can display the indicator 2511 on the windshield through either the head-up display 141b or the transparent display 141c.

Also, as shown, the control unit 170 may display an indicator 2530 indicating an expected path of the vehicle 100 together with the indicator 2511. [ The driver of the vehicle 100 can recognize the vehicle 100 as an augmented reality by simultaneously displaying an indicator 2530 indicating an expected path of the vehicle 100 and an indicator 2511 indicating a dangerous area of the bicycle 2510 as an augmented reality on the windshield, (E.g., position, speed, and moving direction) of the bicycle 2510 and the distance to the vehicle 100 can be intuitively grasped. On the other hand, since there is no overlap between the indicator 2511 and the indicator 2530, the vehicle 100 may not perform any of the predetermined functions for avoiding the collision with the bicycle 2510.

Next, referring to FIG. 25B, the chariot monitors movement characteristics of the bicycle 2510 to determine whether the indicator 2511 overlaps the indicator 2530 in real time or periodically, and the indicator 2511 and the indicator 2530 ) Overlap each other, the function corresponding to the overlapping portion can be executed.

In one embodiment, the controller 170 can track a plurality of points of the bicycle 2510 and adjust the size and shape of the indicator 2511 based on the change in position, speed and direction of the plurality of points to be tracked have. For example, when the bicycle 2510, which is moving forward in the vehicle, as shown in Fig. 25A, enters the lane where the vehicle 100 is located while increasing the speed as shown in Fig. 25B, The length of the indicator 2511 can be increased while tilting the direction of the indicator 2511 toward the lane.

Further, as shown, as the indicator 2530 is overlapped with a portion of the changed indicator 2511, the controller 170 displays the crash warning icon 2512 as visual feedback, adjacent to the actual area of the bicycle 2510 , And can output a guidance voice 2530 (e.g., "Please note the bicycle on the front 10 meters") to notify the driver that the bicycle 2510 should be noted as audible feedback.

If the indicator 2530 overlaps the portion of the indicator 2511 corresponding to the emergency braking function, the controller 170 may additionally display an icon 2513 indicating that the emergency braking function is executed in one area of the windshield have.

26 shows a conceptual diagram of V2X communication that can be performed by the vehicle 100 according to an embodiment of the present invention.

26, the communication unit 110 of the vehicle 100 exchanges information with the other vehicle 2601, the mobile terminal 2602, the infrastructure 2603, and the like on the road on the road via vehicle to everthing (V2X) communication Or share.

For example, the communication unit 110 carries out a V2V communication (Vehicle to Vehicle Communication) to transmit driving information (e.g., speed, moving direction, position, route, wiper, Driver status, etc.). Also, the other vehicle 2601 can receive the traveling information of the vehicle 100 via the V2V communication.

As another example, the communication unit 110 may perform a V2P communication (Vehicle to Pedestrian communication) with the mobile terminal of the pedestrian 2602 adjacent to the vehicle 100 to obtain the speed and the moving direction of the pedestrian 2602.

In another example, the communication unit 110 performs V2I communication (Vehicle to Infrastructure communication) with an RSU (Road Side Unit) 2603 such as a base station installed at a specific point on the road, Can be received. The RSU 2603 receives information on the moving object detected by the vehicle 100 from the vehicle 100 and provides the received information to the other moving objects 2601 and 2602 around the vehicle 100 It is possible.

The vehicle 100 can set or change the dangerous area of the moving object based on the information on the moving object received through the vehicle to everthing (V2X) communication. For example, the control unit 170 may determine the type and the motion characteristics of the moving object determined based on the sensing signal provided from the sensing unit 160 and the information about the moving object received through the vehicle to everthing (V2X) , It is possible to set the dangerous area of the moving object. For example, when the moving object is covered by a building or the like, and the sensing unit 160 can not detect the moving object, the control unit 170 transmits information about the moving object received through V2X (vehicle to everthing) It is also possible to set the dangerous area of the moving object.

27A and 27B show an example in which the vehicle 100 according to an embodiment of the present invention provides an alarm signal to a moving object at risk of potential collision with the vehicle 100 based on external illuminance.

27A and 27B illustrate a top view of an intersection 2700 where the vehicle 100, the first rider 2701 and the second rider 2702 are located.

The vehicle 100 and the first and second rides 2701 and 2702 are both moving forward and the vehicle 100 is moving in the first and second rides 2701 and 2702 adjacent to the intersection 2700, The speed and the moving direction of the vehicle can be determined. The vehicle 100 is in a state in which the first rider 2701 is approaching the intersection 2700 at the first speed and the second rider 2702 is in the state of almost passing the intersection 2700 at the second speed It can be judged. The vehicle 100 determines that there is no risk of collision between the vehicle 270 and the second vehicle 2702 that has passed through the intersection 2700 among the first and second vehicles 2701 and 2702, Only the first rider 2701 can be determined as a crash danger vehicle.

The vehicle 100 can determine whether the external illuminance at the time when the first vehicle 2701 is detected is equal to or greater than a predetermined reference illuminance. For example, the external illuminance of the vehicle 100 may be sensed by an illuminance sensor included in the sensing unit 160. [ Here, the information about the reference illuminance may be stored in the memory 130 in advance. For example, the reference illuminance may be set based on the difference in average illuminance between day and night, the difference in average illuminance both inside and outside the tunnel, and the like. The reference illuminance may be changeable according to user input.

If it is determined that the external illuminance of the vehicle 100 is equal to or higher than the preset reference illuminance, the vehicle 100 may output the horn sound 2710, as shown in Fig. 27A.

On the other hand, when it is determined that the external illuminance of the vehicle 100 is less than the predetermined reference illuminance, the vehicle 100 outputs the horn sound 2710 instead of outputting the horn sound 2710 as shown in Fig. 27B It is possible to irradiate the light 2720 toward the first rudder 2701. For example, the control unit 170 may be provided on the headlamp of the vehicle 100 based on the position of the vehicle 100, the position of the first vehicle 2701, and the distance between the vehicle 100 and the first vehicle 2701 And controls the lamp driving unit 154 to irradiate the first target 2701 with a beam after adjusting the position of the headlamp in accordance with the determined target rotation angle . At this time, the control unit 170 can control the lamp driving unit 154 to irradiate a beam having a relatively large intensity as the distance between the vehicle 100 and the first vehicle 2701 becomes closer.

27A and 27B, in a dark environment in which there is a limit to notify a moving object such as another vehicle 2701 of the risk of collision with the vehicle 100 only by the output of the horn sound 2710, So that the moving object can recognize the risk of collision with the vehicle 100. [

The embodiments of the present invention described above are not only implemented by the apparatus and method but may be implemented through a program for realizing the function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded, The embodiments can be easily implemented by those skilled in the art from the description of the embodiments described above.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to be illustrative, The present invention is not limited to the drawings, but all or some of the embodiments may be selectively combined so that various modifications may be made.

100: vehicle

Claims (20)

  1. In a vehicle,
    A display unit for displaying information;
    A sensing unit for sensing a moving object adjacent to the vehicle; And
    Wherein the motion characteristic of the moving object includes a speed and a moving direction of the moving object, and the moving direction of the moving object is determined based on sensing information about the moving object provided from the sensing unit,
    And setting a dangerous area for the moving object based on the movement characteristics of the moving object, the dangerous area having a size and a shape corresponding to the movement characteristics of the moving object,
    Displaying an image indicating the dangerous area on the display unit,
    Determining a predicted route of the vehicle,
    When it is determined that a part of the dangerous area overlaps with the expected route of the vehicle exists,
    And a control unit for executing a predetermined function corresponding to the overlapping portion,
    Wherein,
    Dividing the dangerous area into a predetermined number of sub-areas,
    Determining a predicted path of the vehicle to be passed within a predetermined time by the vehicle among the entire path from the user to the destination based on the motion characteristics including the speed and the direction of movement of the vehicle,
    And determines whether there is a sub-region overlapping the expected route of the vehicle among the sub-regions.
  2. The method according to claim 1,
    The sensing unit includes:
    A camera, a radar, a radar, and an ultrasonic sensor.
  3. The method according to claim 1,
    Wherein,
    And displays an image indicating the dangerous area on the display unit in an augmented reality mode or a top view mode.
  4. The method of claim 3,
    Wherein,
    In the top view mode, an image indicating the dangerous area is mapped to a map and displayed on the display unit.
  5. 5. The method of claim 4,
    Wherein,
    And adjusts the scale of the map based on the congestion around the vehicle.
  6. The method according to claim 1,
    Wherein,
    Predicting a future moving direction of the moving object based on a change of at least one of a position, a speed, and a moving direction of a plurality of points of the moving object,
    And changes the dangerous area for the moving object based on the predicted moving direction.
  7. The method according to claim 1,
    Wherein,
    And judges the type of the moving object based on sensing information about the moving object.
  8. 8. The method of claim 7,
    Wherein,
    And sets a dangerous area for the moving object on the basis of the type of the moving object when the type of the moving object corresponds to the type predetermined by the user.
  9. delete
  10. The method according to claim 1,
    Each of the sub-areas indicating a range in which the moving object is movable during different time intervals.
  11. The method according to claim 1,
    Wherein,
    And displays the images indicating the sub areas on the display unit so as to be distinguished from each other.
  12. delete
  13. The method according to claim 1,
    Wherein,
    And displays, on the display unit, an image indicating the expected path of the vehicle, together with an image indicating the dangerous area.
  14. delete
  15. The method according to claim 1,
    Wherein,
    Wherein when the external illuminance of the vehicle is equal to or greater than a preset illuminance, a horn sound of the vehicle is output, and if the external illuminance of the vehicle is less than a predetermined illuminance, And irradiates light toward the moving object.
  16. The method according to claim 1,
    Wherein,
    Executing at least one of predetermined functions when there is a sub-area overlapping the expected route of the vehicle among the sub-areas,
    The predetermined functions include:
    at least one of (i) an alarm output to the driver of the vehicle, (ii) control of the vehicle decelerating device, (iii) control of the steering device of the vehicle, and (iv) control of the lighting device of the vehicle .
  17. 17. The method of claim 16,
    Wherein,
    And executes a function corresponding to a sub-region overlapping the anticipated route of the vehicle among the predetermined functions.
  18. 18. The method of claim 17,
    Wherein,
    And adjusts a control parameter for a function corresponding to a sub-area overlapping with a predicted path of the vehicle, based on a distance between the vehicle and a sub-area overlapping the expected path of the vehicle among the sub-areas.
  19. 17. The method of claim 16,
    Said sub-areas comprising a first sub-area and a second sub-area,
    Wherein,
    In response to the expected path of the vehicle overlapping with the first sub-area, executing a first one of the predetermined functions,
    Responsive to an expected path of the vehicle overlapping the second sub-region, executes a second function different from the first one of the predetermined functions.
  20. The method according to claim 1,
    A communication unit for performing wireless communication with the moving object;
    Further comprising:
    Wherein,
    And sets a dangerous area for the moving object on the basis of the information about the moving object received by the communication unit.
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